抄録
Underwater manipulator design based on electric motor-driven actuator which utilizes magnetic coupling mechanism is suitable for small and medium underwater vehicle. Moreover, magnetic coupling mechanism enables the design of a compact and light manipulator joint. This paper described the mechanical design and development of a new electric motor-driven manipulator joint for underwater vehicle-manipulator system (UVMS). The developed joint is consists of electric motor-driven actuator and neodymium magnetic coupling inside a waterproof case. The designed joint weighs approximately 1.6 kg and capable to generate maximum torque of about 1.6 Nm. We also demonstrated the mechanical design of a planar 2-link underwater manipulator utilizing the newly proposed joint.
